Actionable topological mapping for navigation using nearby objects

  title={Actionable topological mapping for navigation using nearby objects},
  author={Junyoung Kim and Juyong Kim and Seungil You and Yoonseon Oh and Songhwai Oh},
  journal={2012 IEEE International Conference on Automation Science and Engineering (CASE)},
In this paper, we propose a mapping and navigation method for mobile robots with low computational resources and limited memory capacity. The proposed navigation method is based on topological mapping of visual features for its compact representation and robustness in localization. In order to improve the localization accuracy and minimize the memory… CONTINUE READING